Working communication with the BARO
Not a full implementation just a test that can get conntact with the BARO and no other calculations are made. This is not using the HAL but its a software implementation that simly sets pins high and low etc...
This commit is contained in:
Jonas Holmberg
parent
e75e8a7089
commit
f35617c92d
@ -57,20 +57,20 @@ bool i2c_configure(I2C_TypeDef *i2c,
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GPIO_InitStruct.Pin = sda_pin | scl_pin;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_PULLUP;
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GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
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GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
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GPIO_InitStruct.Alternate = i2c_af;
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HAL_GPIO_Init(i2c_port, &GPIO_InitStruct);
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//Initialize I2C communication
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out_profile->Instance = i2c;
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out_profile->Init.ClockSpeed = 400000;
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out_profile->Init.DutyCycle = I2C_DUTYCYCLE_2;
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out_profile->Init.DutyCycle = I2C_DUTYCYCLE_2/*I2C_DUTYCYCLE_2*/;
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out_profile->Init.OwnAddress1 = my_address;
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out_profile->Init.OwnAddress2 = 0;
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out_profile->Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
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out_profile->Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
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out_profile->Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
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out_profile->Init.NoStretchMode = I2C_NOSTRETCH_ENABLE;
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out_profile->Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
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if(HAL_I2C_Init(out_profile) != HAL_OK)
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return false;
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@ -118,10 +118,10 @@ bool i2c_send(I2C_HandleTypeDef* profile,
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uint8_t i = 0;
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// try to send the data 10 times and if no acknowledge is received during these 10 messages we stop trying so that
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// the system don't gets stuck forever because a slave is unreachable
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// while(HAL_I2C_Master_Transmit(profile,(slave_address << 1), (uint8_t*)data, length, 1000) != HAL_OK && i++ < 10)
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// {}
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while(HAL_I2C_Master_Transmit(profile, slave_address, (uint8_t*)data, length, 5000) != HAL_OK && i++ < 10)
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{}
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while(HAL_I2C_Master_Transmit(profile,(slave_address << 1), (uint8_t*)data, length, 1000) != HAL_OK && i++ < 10)
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{I2C1->CR1 |= (1 << 9);}
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// while(HAL_I2C_Master_Transmit(profile, slave_address, (uint8_t*)data, length, 5000) != HAL_OK && i++ < 10)
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// {}
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//Wait til the I2C bus is done with all sending
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while (HAL_I2C_GetState(profile) != HAL_I2C_STATE_READY){}
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@ -11,7 +11,7 @@
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#define ADDR_WRITE 0xEE // Module address write mode
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#define ADDR_READ 0xEF // Module address read mode
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#define ADDRESS_BARO 0x76 //0x77
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#define ADDRESS_BARO 0x77 //0x77
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#define CMD_RESET 0x1E // ADC reset command
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#define CMD_ADC_READ 0x00 // ADC read command
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@ -27,6 +27,9 @@
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#define Device_address_1 0x56
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#define IO_CONFIG(mode, speed) ((mode) | (speed))
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#define IOCFG_OUT_OD IO_CONFIG(GPIO_Mode_Out_OD, GPIO_Speed_2MHz)
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I2C_HandleTypeDef baroI2C_handle;
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double baro_Preassure; // compensated pressure value (mB)
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@ -41,6 +44,212 @@ uint8_t cobuf[3];
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* address: 7 = serial code and CRC */
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uint32_t coefficients_arr[8]; //coefficient storage
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void IOHi(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin)
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{
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HAL_GPIO_WritePin(GPIOx, GPIO_Pin, GPIO_PIN_SET);
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}
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void IOLo(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin)
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{
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HAL_GPIO_WritePin(GPIOx, GPIO_Pin, GPIO_PIN_RESET);
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}
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bool IORead(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin)
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{
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return !! (GPIOx->IDR & GPIO_Pin);
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}
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static void TEST_I2C_delay(void)
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{
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volatile int i = 7;
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while (i) {
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i--;
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}
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}
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void TEST_i2cInit()
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{
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// scl = IOGetByTag(IO_TAG(SOFT_I2C_SCL));
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// sda = IOGetByTag(IO_TAG(SOFT_I2C_SDA));
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//
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// IOConfigGPIO(scl, IOCFG_OUT_OD);
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// IOConfigGPIO(sda, IOCFG_OUT_OD);
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}
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static bool TEST_I2C_Start(void)
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{
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IOHi(I2C1_PORT, I2C1_SDA_PIN);
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IOHi(I2C1_PORT, I2C1_SCL_PIN);
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TEST_I2C_delay();
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if (!IORead(I2C1_PORT, I2C1_SDA_PIN)) {
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return false;
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}
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IOLo(I2C1_PORT, I2C1_SDA_PIN);
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TEST_I2C_delay();
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if (IORead(I2C1_PORT, I2C1_SDA_PIN)) {
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return false;
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}
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IOLo(I2C1_PORT, I2C1_SDA_PIN);
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TEST_I2C_delay();
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return true;
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}
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static void TEST_I2C_Stop(void)
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{
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IOLo(I2C1_PORT, I2C1_SCL_PIN);
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TEST_I2C_delay();
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IOLo(I2C1_PORT, I2C1_SDA_PIN);
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TEST_I2C_delay();
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IOHi(I2C1_PORT, I2C1_SCL_PIN);
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TEST_I2C_delay();
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IOHi(I2C1_PORT, I2C1_SDA_PIN);
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TEST_I2C_delay();
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}
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static void TEST_I2C_Ack(void)
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{
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IOLo(I2C1_PORT, I2C1_SCL_PIN);
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TEST_I2C_delay();
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IOLo(I2C1_PORT, I2C1_SDA_PIN);
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TEST_I2C_delay();
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IOHi(I2C1_PORT, I2C1_SCL_PIN);
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TEST_I2C_delay();
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IOLo(I2C1_PORT, I2C1_SCL_PIN);
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TEST_I2C_delay();
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}
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static void TEST_I2C_NoAck(void)
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{
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IOLo(I2C1_PORT, I2C1_SCL_PIN);
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TEST_I2C_delay();
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IOHi(I2C1_PORT, I2C1_SDA_PIN);
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TEST_I2C_delay();
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IOHi(I2C1_PORT, I2C1_SCL_PIN);
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TEST_I2C_delay();
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IOLo(I2C1_PORT, I2C1_SCL_PIN);
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TEST_I2C_delay();
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}
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static bool TEST_I2C_WaitAck(void)
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{
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IOLo(I2C1_PORT, I2C1_SCL_PIN);
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TEST_I2C_delay();
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IOHi(I2C1_PORT, I2C1_SDA_PIN);
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TEST_I2C_delay();
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IOHi(I2C1_PORT, I2C1_SCL_PIN);
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TEST_I2C_delay();
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if (IORead(I2C1_PORT, I2C1_SDA_PIN)) {
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IOLo(I2C1_PORT, I2C1_SCL_PIN);
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return false;
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}
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IOLo(I2C1_PORT, I2C1_SCL_PIN);
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return true;
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}
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static void TEST_I2C_SendByte(uint8_t byte)
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{
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uint8_t i = 8;
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while (i--) {
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IOLo(I2C1_PORT, I2C1_SCL_PIN);
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TEST_I2C_delay();
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if (byte & 0x80) {
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IOHi(I2C1_PORT, I2C1_SDA_PIN);
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}
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else {
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IOLo(I2C1_PORT, I2C1_SDA_PIN);
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}
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byte <<= 1;
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TEST_I2C_delay();
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IOHi(I2C1_PORT, I2C1_SCL_PIN);
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TEST_I2C_delay();
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}
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IOLo(I2C1_PORT, I2C1_SCL_PIN);
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}
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static uint8_t TEST_I2C_ReceiveByte(void)
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{
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uint8_t i = 8;
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uint8_t byte = 0;
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IOHi(I2C1_PORT, I2C1_SDA_PIN);
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while (i--) {
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byte <<= 1;
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IOLo(I2C1_PORT, I2C1_SCL_PIN);
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TEST_I2C_delay();
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IOHi(I2C1_PORT, I2C1_SCL_PIN);
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TEST_I2C_delay();
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if (IORead(I2C1_PORT, I2C1_SDA_PIN)) {
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byte |= 0x01;
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}
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}
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IOLo(I2C1_PORT, I2C1_SCL_PIN);
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return byte;
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}
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bool TEST_i2cRead(I2C_HandleTypeDef *hi2c, uint8_t addr, uint8_t reg, uint8_t len, uint8_t *buf)
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{
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//just send the addres 0x77
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//write = 0, read = 1
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if (!TEST_I2C_Start()) {
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return false;
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}
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TEST_I2C_SendByte(addr << 1 | 0);
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if (!TEST_I2C_WaitAck()) {
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TEST_I2C_Stop();
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//i2cErrorCount++;
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return false;
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}
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TEST_I2C_SendByte(reg);
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TEST_I2C_WaitAck();
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TEST_I2C_Start();
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TEST_I2C_SendByte(addr << 1 | 1);
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TEST_I2C_WaitAck();
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while (len) {
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*buf = TEST_I2C_ReceiveByte();
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if (len == 1) {
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TEST_I2C_NoAck();
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}
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else {
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TEST_I2C_Ack();
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}
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buf++;
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len--;
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}
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TEST_I2C_Stop();
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return true;
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}
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bool TEST_i2cWrite(I2C_HandleTypeDef *hi2c, uint8_t addr, uint8_t reg, uint8_t data, uint8_t readWrite)
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{
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//just send the addres 0x77
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//write = 0, read = 1
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if (!TEST_I2C_Start()) {
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return false;
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}
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TEST_I2C_SendByte(addr << 1 | 0);
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if (!TEST_I2C_WaitAck()) {
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TEST_I2C_Stop();
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// i2cErrorCount++;
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return false;
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}
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TEST_I2C_SendByte(reg);
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TEST_I2C_WaitAck();
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TEST_I2C_SendByte(data);
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TEST_I2C_WaitAck();
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TEST_I2C_Stop();
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return true;
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}
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uint8_t crc4(uint32_t n_prom[]) {
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uint32_t n_rem;
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@ -74,8 +283,8 @@ unsigned int barometer_cmd_prom(char coef_num)
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unsigned int rC = 0;
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cobuf[0] = 0;
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cobuf[1] = 0;
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//i2c_send(&baroI2C_handle, ADDRESS_BARO, CMD_PROM_RD + coef_num * 2, 1); // send PROM READ command
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m_i2c_send(CMD_PROM_RD + coef_num * 2); // send PROM READ command
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i2c_send(&baroI2C_handle, ADDRESS_BARO, CMD_PROM_RD + coef_num * 2, 1); // send PROM READ command
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//m_i2c_send(CMD_PROM_RD + coef_num * 2); // send PROM READ command
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i2c_receive(&baroI2C_handle, ADDRESS_BARO, cobuf, 3); //Read the adc values
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rC = cobuf[0] * 256 + cobuf[1];
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return rC;
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@ -120,18 +329,133 @@ void m_i2c_send(uint8_t cmd)
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bool barometer_init()
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{
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//i2c_configure(I2C1, &baroI2C_handle, Device_address_1);
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//Initialize pins for SCL and SDA
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GPIO_InitTypeDef GPIO_InitStruct;
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GPIO_InitStruct.Pin = I2C1_SCL_PIN | I2C1_SDA_PIN;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
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HAL_GPIO_Init(I2C1_PORT, &GPIO_InitStruct);
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bool ack = false;
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uint8_t sig;
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// ack = TEST_i2cRead(I2C1, ADDRESS_BARO, CMD_PROM_RD, 1, &sig);
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// if (!ack)
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// return false;
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TEST_i2cWrite(I2C1, ADDRESS_BARO, CMD_RESET, 1, 0);
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HAL_Delay(2800);
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for (int i = 0; i < 8; i++)
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{
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uint8_t rxbuf[2] = { 0, 0 };
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TEST_i2cRead(I2C1, ADDRESS_BARO, CMD_PROM_RD + i * 2, 2, rxbuf); // send PROM READ command
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coefficients_arr[i] = rxbuf[0] << 8 | rxbuf[1];
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}
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HAL_GPIO_DeInit(I2C1_PORT, I2C1_SCL_PIN);
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HAL_GPIO_DeInit(I2C1_PORT, I2C1_SDA_PIN);
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return i2c_configure(I2C1, &baroI2C_handle, Device_address_1);
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}
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bool barometer_reset()
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{
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//Change to write mode and send reset command
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cobuf[0] = CMD_RESET;
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HAL_Delay(1000);
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bool response = i2c_send(&baroI2C_handle, ADDR_WRITE, (uint8_t*)cobuf[0], 1);
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m_i2c_send(CMD_RESET);
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m_i2c_send(CMD_RESET);
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m_i2c_send(CMD_RESET);
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//ool response = i2c_send(&baroI2C_handle, ADDRESS_BARO, (uint8_t*)cobuf[0], 1);
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int i = 0;
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uint32_t TempaddressW = 0b11101110;
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uint32_t TempaddressR = 0b11101110;
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uint32_t testValueW = ((uint8_t)((TempaddressW) & (~0x00000001U)));
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uint32_t testValR = ((uint8_t)((TempaddressR) | 0x00000001U));
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HAL_I2C_Master_Transmit(&baroI2C_handle,TempaddressW,cobuf, 1,1000);
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// for (i = 0; i < 256; i ++)
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// {
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// if(HAL_I2C_Master_Transmit(&baroI2C_handle,i,cobuf, 1,1000) == HAL_OK)
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// {
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// uint32_t testValue = ((uint8_t)((i) & (~0x00000001U)));
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// }
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// else
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// {
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//
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// }
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// }
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HAL_Delay(3000);
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for (int coef_num = 0; coef_num < 8; coef_num++)
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{
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HAL_Delay(50);
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cobuf[0] = 0;
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cobuf[1] = 0;
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cobuf[2] = 0;
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cobuf[0] = CMD_PROM_RD + (coef_num * 2);
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HAL_I2C_Master_Transmit(&baroI2C_handle, TempaddressW, cobuf, 1, 1000); // send PROM READ command
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cobuf[0] = 0;
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HAL_I2C_Master_Receive(&baroI2C_handle, TempaddressR, cobuf, 2, 1000); //Read the adc values
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uint32_t rC = (cobuf[0] << 8) | cobuf[1];
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coefficients_arr[coef_num] = rC;
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}
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//m_i2c_send(CMD_PROM_RD + coef_num * 2); // send PROM READ command
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//
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// while(true)
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// {
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// i++;
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// //HAL_I2C_Mem_Write()
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// I2C1->CR1 |= (1 << 8);
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// HAL_Delay(10);
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// I2C1->SR1;
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//
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// uint32_t Tempaddress = 0b11101100;
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// I2C1->DR = Tempaddress;
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// HAL_Delay(10);
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// uint32_t compVal = (I2C1->SR1 & (1 << 10));
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// if (compVal != 0)
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// {
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// I2C1->SR1 &= ~(1 << 10);
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// I2C1->CR1 |= (1 << 9);
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// HAL_Delay(100);
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//
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// }
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// else if (compVal == 0)
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// {
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// break;
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// }
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// }
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//
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//
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// I2C1->SR2;
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//
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// I2C1->DR = CMD_RESET;
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//I2C1->CR1 |= (1 << 9);
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HAL_Delay(1000);
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if(HAL_I2C_IsDeviceReady(&baroI2C_handle, ADDRESS_BARO, 10,1000) == HAL_OK)
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{
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return true;
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}
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// m_i2c_send(CMD_RESET);
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// m_i2c_send(CMD_RESET);
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// m_i2c_send(CMD_RESET);
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//wait for the reset sequence
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HAL_Delay(5);
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@ -200,22 +524,22 @@ void barometer_CaclulateValues()
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switch (currentCalculationState)
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{
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case CALCSTATE_D2_CALCULATION:
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i2c_send(&baroI2C_handle, ADDRESS_BARO, CMD_ADC_CONV + (CMD_ADC_D2 + CMD_ADC_4096),1); // send conversion command
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HAL_I2C_Master_Transmit(&baroI2C_handle, ADDRESS_BARO, CMD_ADC_CONV + (CMD_ADC_D2 + CMD_ADC_4096),1,1000); // send conversion command
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currentCalculationState = CALCSTATE_D2_READ; //change the state so we will go to D2 read next time function is called
|
||||
break;
|
||||
case CALCSTATE_D2_READ:
|
||||
i2c_send(&baroI2C_handle, ADDRESS_BARO, CMD_ADC_READ, 1); //Tell the sensor we want to read
|
||||
i2c_receive(&baroI2C_handle, ADDRESS_BARO, cobuf, 3); //Read the adc values
|
||||
HAL_I2C_Master_Transmit(&baroI2C_handle, ADDRESS_BARO, CMD_ADC_READ, 1, 1000); //Tell the sensor we want to read
|
||||
HAL_I2C_Master_Receive(&baroI2C_handle, ADDRESS_BARO, cobuf, 3, 1000); //Read the adc values
|
||||
D2 = (cobuf[0] << 16) + (cobuf[1] << 8) + cobuf[2]; //Shift the values to the correct position for the 24 bit D2 value
|
||||
currentCalculationState = CALCSTATE_D1_CALCULATION;
|
||||
break;
|
||||
case CALCSTATE_D1_CALCULATION:
|
||||
i2c_send(&baroI2C_handle, ADDRESS_BARO, CMD_ADC_CONV + (CMD_ADC_D1 + CMD_ADC_4096),1); // send conversion command
|
||||
HAL_I2C_Master_Transmit(&baroI2C_handle, ADDRESS_BARO, CMD_ADC_CONV + (CMD_ADC_D1 + CMD_ADC_4096),1, 1000); // send conversion command
|
||||
currentCalculationState = CALCSTATE_D1_READ; //change the state so we will go to D1 read next time function is called
|
||||
break;
|
||||
case CALCSTATE_D1_READ:
|
||||
i2c_send(&baroI2C_handle, ADDRESS_BARO, CMD_ADC_READ, 1); //Tell the sensor we want to read
|
||||
i2c_receive(&baroI2C_handle, ADDRESS_BARO, cobuf, 3); //Read the adc values
|
||||
HAL_I2C_Master_Transmit(&baroI2C_handle, ADDRESS_BARO, CMD_ADC_READ, 1, 1000); //Tell the sensor we want to read
|
||||
HAL_I2C_Master_Receive(&baroI2C_handle, ADDRESS_BARO, cobuf, 3, 1000); //Read the adc values
|
||||
D1 = (cobuf[0] << 16) + (cobuf[1] << 8) + cobuf[2]; //Shift the values to the correct position for the 24 bit D2 value
|
||||
currentCalculationState = CALCSTATE_CALCULATE_PTA;
|
||||
break;
|
||||
|
||||
@ -187,7 +187,7 @@ void systemTaskBaro(void)
|
||||
|
||||
|
||||
|
||||
// //read the barometer
|
||||
//read the barometer
|
||||
// I2C_HandleTypeDef i2c_profile;
|
||||
//
|
||||
// //---- COMPAS WORKING ----
|
||||
@ -211,7 +211,7 @@ void systemTaskBaro(void)
|
||||
//
|
||||
// while (1)
|
||||
// {
|
||||
// i2c_send(&i2c_profile, 0x3D, request_data, 1);
|
||||
// i2c_send(&i2c_profile, address, request_data, 1);
|
||||
// i2c_receive(&i2c_profile, address, response_data, 6);
|
||||
// i2c_send(&i2c_profile, address, reset_pointer_data, 1);
|
||||
//
|
||||
@ -225,17 +225,17 @@ void systemTaskBaro(void)
|
||||
// int16_t y = (~(*(int16_t*)(response_data+4)))+1;
|
||||
// int stop = 5 *2;
|
||||
// }
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//
|
||||
//
|
||||
//
|
||||
//
|
||||
//
|
||||
//
|
||||
//
|
||||
//
|
||||
//
|
||||
//
|
||||
//
|
||||
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user